63 lines
2.5 KiB
C++
63 lines
2.5 KiB
C++
// Copyright 2021 The MediaPipe Authors.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MEDIAPIPE_MODULES_OBJECTRON_CALCULATORS_EPNP_H_
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#define MEDIAPIPE_MODULES_OBJECTRON_CALCULATORS_EPNP_H_
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#include <vector>
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#include "Eigen/Dense"
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#include "absl/status/status.h"
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#include "absl/strings/str_format.h"
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#include "mediapipe/framework/port/logging.h"
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namespace mediapipe {
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// This function performs EPnP algorithm, lifting normalized 2D points in pixel
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// space to 3D points in camera coordinate.
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//
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// Inputs:
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// focal_x: camera focal length along x.
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// focal_y: camera focal length along y.
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// center_x: camera center along x.
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// center_y: camera center along y.
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// portrait: a boolen variable indicating whether our images are obtained in
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// portrait orientation or not.
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// input_points_2d: input 2D points to be lifted to 3D.
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// output_points_3d: ouput 3D points in camera coordinate.
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absl::Status SolveEpnp(const float focal_x, const float focal_y,
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const float center_x, const float center_y,
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const bool portrait,
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const std::vector<Eigen::Vector2f>& input_points_2d,
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std::vector<Eigen::Vector3f>* output_points_3d);
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// This function performs EPnP algorithm, lifting normalized 2D points in pixel
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// space to 3D points in camera coordinate.
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//
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// Inputs:
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// projection_matrix: the projection matrix from 3D coordinate
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// to screen coordinate.
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// portrait: a boolen variable indicating whether our images are obtained in
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// portrait orientation or not.
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// input_points_2d: input 2D points to be lifted to 3D.
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// output_points_3d: ouput 3D points in camera coordinate.
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absl::Status SolveEpnp(const Eigen::Matrix4f& projection_matrix,
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const bool portrait,
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const std::vector<Eigen::Vector2f>& input_points_2d,
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std::vector<Eigen::Vector3f>* output_points_3d);
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} // namespace mediapipe
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#endif // MEDIAPIPE_MODULES_OBJECTRON_CALCULATORS_EPNP_H_
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